Wheel changing apparatus

Abstract

The application provides a wheel dismounting and mounting device, which comprises a rack, a control module, an execution module and a movement module; the control module is in communication connection with the execution module and the movement module respectively; the control module and the execution module are both installed on the rack; the movement module comprises a base and traveling wheels installed on the base, the base is used for bearing the rack, and the movement module is used for navigating and traveling on a road surface; the execution module is used for dismounting and mounting wheels of a vehicle. The wheel dismounting and mounting device provided by the application can send instructions to the movement module through the control module, so that the movement module automatically navigates and travels to a target working position; after the wheel dismounting and mounting device reaches the target working position, the execution module can automatically and accurately complete the dismounting or mounting of the wheels, so that the automation degree and the dismounting and mounting efficiency of the wheels are greatly improved, and the labor cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile assembly, in particular to a wheel dismounting and mounting device. BACKGROUND

[0002] In the working scenarios of automobile research and development, vehicle maintenance, etc., the wheel needs to be frequently dismounted and mounted. At present, the industry basically adopts manual operation to manually dismount and mount the wheel, which increases the labor cost and consumes a long time, greatly affecting the wheel dismounting and mounting efficiency. SUMMARY

[0003] In view of this, the present application provides a wheel dismounting and mounting device, which can improve the automation degree and dismounting and mounting efficiency of the wheel.

[0004] Specifically, the technical scheme comprises the following:

[0005] The present application provides a wheel dismounting and mounting device, which comprises a rack, a control module, an execution module and a motion module;

[0006] The control module is in communication connection with the execution module and the motion module respectively;

[0007] The control module and the execution module are both installed on the rack;

[0008] The motion module comprises a base and a traveling wheel installed on the base, the base is used for carrying the rack, and the motion module is used for navigating and traveling on the road surface;

[0009] The execution module is used for dismounting and mounting the wheel of the automobile.

[0010] In an optional embodiment, the wheel dismounting and mounting device further comprises an identification module;

[0011] The identification module comprises a first camera, which is installed on the top of the rack and is used for acquiring environmental image information; and / or,

[0012] The identification module comprises a second camera, which is installed beside the execution module and is used for acquiring wheel image information.

[0013] In an optional embodiment, the wheel dismounting and mounting device further comprises a part storage module, which is used for storing the parts of the wheel and conveying the parts to the execution module.

[0014] In an optional embodiment, the part storage module comprises a first driving member, a storage disc, a conveying disc and a storage hopper, the first driving member is configured to drive the storage disc to rotate, the storage disc and the conveying disc are arranged along a height direction of the wheel dismounting and mounting device, the storage disc is arranged above the conveying disc, and the storage hopper is arranged below the conveying disc.

[0015] The storage disc is provided with a plurality of first through holes for accommodating the parts, and the conveying disc is provided with a plurality of second through holes, the number of the second through holes being less than the number of the first through holes.

[0016] When the first through hole rotates to a position corresponding to the second through hole, the part in the first through hole can fall into the storage hopper through the second through hole.

[0017] In an optional embodiment, the wheel dismounting and mounting device further comprises a first position adjusting mechanism, the first position adjusting mechanism is in driving connection with the storage hopper, and the first position adjusting mechanism is configured to drive the storage hopper to move below the second through hole or beside the execution module.

[0018] In an optional embodiment, the first position adjusting mechanism comprises a first mounting bracket, a second mounting bracket, a second driving member, a crank, a connecting rod and a sliding block.

[0019] The first mounting bracket and the second mounting bracket are vertically connected, the first mounting bracket is fixed on the rack, the second driving member is arranged on the second mounting bracket and in driving connection with the crank, one end of the connecting rod is eccentrically arranged on the crank, and the other end of the connecting rod is connected with the sliding block.

[0020] The sliding block is connected with the storage hopper, the storage hopper is movably connected with the second mounting bracket and can move along a length direction of the second mounting bracket.

[0021] In an optional embodiment, the wheel dismounting and mounting device further comprises a second position adjusting mechanism, the second position adjusting mechanism is in driving connection with the execution module, and the second position adjusting mechanism is configured to adjust the position of the execution module so as to align the execution module with a hole position of the wheel.

[0022] In an optional embodiment, the execution module has a telescopic structure, and the execution module can be telescoped along a length direction of the execution module.

[0023] In an optional embodiment, the traveling wheel is a Mecanum wheel.

[0024] In an optional embodiment, the wheel dismounting and mounting device further comprises a solar panel and an energy storage device electrically connected, the energy storage device being configured to supply power to at least one of the control module, the execution module and the execution module.

[0025] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects: since the control module and the motion module are in communication connection, the control module can send instructions to the motion module, so that the motion module automatically navigates and travels to the target work site; after the wheel dismounting and mounting device reaches the target work site, the execution module can automatically and accurately complete the dismounting or mounting of the wheel, greatly improving the automation degree and efficiency of wheel dismounting and mounting, and saving labor cost. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical schemes in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0027] Figure 1 One of the perspective views of the wheel dismounting and mounting device provided by the embodiments of the present application;

[0028] Figure 2 The second perspective view of the wheel dismounting and mounting device provided by the embodiments of the present application;

[0029] Figure 3 The structural schematic view of the part storage module provided by the embodiments of the present application;

[0030] Figure 4 The sectional view of the part storage module provided by the embodiments of the present application;

[0031] Figure 5 The first structural schematic view of the first position adjusting mechanism provided by the embodiments of the present application;

[0032] Figure 6 The second structural schematic view of the first position adjusting mechanism provided by the embodiments of the present application;

[0033] Figure 7 The structural schematic view of the second position adjusting mechanism provided by the embodiments of the present application.

[0034] The reference signs in the drawings represent the following:

[0035] 1- frame;

[0036] 2- control module;

[0037] 3- execution module;

[0038] 4 - movement module; 41 - base; 42 - traveling wheel;

[0039] 51 - first camera device; 52 - second camera device;

[0040] 6 - spare part storage module; 61 - first driving member; 62 - storage disc; 621 - first through hole; 63 - conveying disc; 631 - second through hole; 64 - storage hopper; 65 - first gear; 66 - second gear; 67 - connecting member; 68 - deep groove ball bearing;

[0041] 7 - first position adjusting mechanism; 71 - first mounting bracket; 72 - second mounting bracket; 73 - crank; 74 - connecting rod; 75 - sliding block; 76 - second driving member;

[0042] 8 - second position adjusting mechanism; 81 - first mounting plate; 82 - second mounting plate; 83 - ball screw device; 84 - third driving member;

[0043] 9 - solar cell panel; 91 - panel support.

[0044] The specific embodiments of the present application have been shown in the above drawings, and will be described in more detail hereinafter. These drawings and the written description are not intended to restrict the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative work fall within the scope of protection of the present application.

[0046] The orientation terms such as “upper”, “lower”, “side” and the like involved in the embodiments of the present application are generally based on the relative relationship of the orientation shown in the drawings, and these orientation terms are only used to more clearly describe the structure and the relationship between the structures, and are not intended to describe absolute orientation. When the product is placed in different postures, the orientation may change, for example, “upper” and “lower” may be interchanged. Figure 1

[0047] Unless otherwise defined, all the technical terms used in the embodiments of the present application have the same meaning as commonly understood by those skilled in the art. Some technical terms appearing in the embodiments of the present application are described below.

[0048] ​In order to make the technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0049] In the work scene of automobile research and development, vehicle maintenance, etc., the wheels often need to be frequently disassembled and assembled. At present, manual operation is basically adopted to manually disassemble and assemble the wheels in the industry, which increases the labor cost and consumes a long time, greatly affecting the wheel disassembly and assembly efficiency.

[0050] In view of the above technical problems, the present application provides a wheel disassembly and assembly device.

[0051] As shown in Figure 1 and Figure 2 , the wheel disassembly and assembly device comprises a rack 1, a control module 2, an execution module 3 and a motion module 4.

[0052] The control module 2 is communicatively connected with the execution module 3 and the motion module 4. Exemplarily, the control module 2 is a programmable controller, an embedded microcontroller, a PID controller, etc. The control module 2 can send instructions to the execution module 3 and the motion module 4, and the execution module 3 and the motion module 4 adjust their running states after receiving the instructions sent by the control module 2.

[0053] The control module 2 and the execution module 3 are both installed on the rack 1. As shown in Figure 1 and Figure 2 , the rack 1 is in a three-dimensional frame shape, and the rack 1 provides installation positions for the control module 2, the execution module 3 and other components of the wheel disassembly and assembly device.

[0054] Optionally, the rack 1 is made of aluminum alloy, which has the advantages of low density, high strength, good electrical conductivity and thermal conductivity, good corrosion resistance and easy processing, which helps to reduce the weight of the wheel disassembly and assembly device.

[0055] Optionally, the rack 1 is a multi-layer structure, which provides sufficient installation space for other components while helping to reduce the space occupied by the wheel disassembly and assembly device in the horizontal direction, facilitating the wheel disassembly and assembly device to enter a relatively narrow space.

[0056] The motion module 4 comprises a base 41 and traveling wheels 42 installed on the base 41, and the base 41 is used to carry the rack 1, and the motion module 4 is used to navigate and travel on the road surface.

[0057] As shown in Figure 1 , the motion module 4 comprises four traveling wheels 42, and optionally, the motion module 4 further comprises a driving device (not shown in the figure) communicatively connected with the control module 2, the driving device is in transmission connection with the traveling wheels 42, and the traveling wheels 42 can travel on the road surface under the driving of the driving device, which improves the flexibility and automation degree of the wheel disassembly and assembly device.

[0058] Exemplarily, when the operator needs to disassemble and assemble the wheel, the computer or the like sends the disassembly and assembly instruction to the control module 2 of the wheel disassembly and assembly device by using the wireless communication technology. After receiving the disassembly and assembly instruction, the control module 2 analyzes and processes the position information of the wheel disassembly and assembly device and the position information of the wheel to be disassembled and assembled, thereby planning a path for the wheel disassembly and assembly device, and then sends a driving instruction to the movement module 4, so that the movement module 4 automatically navigates to the location of the wheel to be disassembled and assembled, so as to disassemble and assemble the wheel, and improve the intelligent degree of the wheel disassembly and assembly device.

[0059] Optionally, the control module 2 directly analyzes and processes the position information of the wheel disassembly and assembly device and the position information of the wheel to be disassembled and assembled, or the control module 2 feeds back the position information of the wheel disassembly and assembly device and the position information of the wheel to be disassembled and assembled to the computer for analysis and processing, and then the computer feeds back the processed information to the control module 2, which is not limited in the present application.

[0060] The execution module 3 is used for disassembling and assembling the wheel of the automobile. Exemplarily, the execution module 3 includes an internal hexagonal wrench, a socket wrench and the like, and the execution module 3 can disassemble and assemble the threaded parts such as bolts and screws on the wheel, thereby completing the disassembly and assembly of the wheel.

[0061] The wheel disassembly and assembly device provided by the embodiment of the present application is communicated with the control module 2 and the movement module 4, so that the control module 2 can send an instruction to the movement module 4, and the movement module 4 automatically navigates to the target working location. After the wheel disassembly and assembly device reaches the target working location, the execution module 3 can automatically and accurately complete the disassembly or assembly of the wheel, thereby greatly improving the automation degree and the disassembly and assembly efficiency of the wheel, and saving the labor cost.

[0062] In a further embodiment, the wheel disassembly and assembly device further comprises an identification module.

[0063] The identification module comprises a first camera 51 installed on the top of the rack 1 and used for acquiring environmental image information, and / or the identification module comprises a second camera 52 installed beside the execution module 3 and used for acquiring wheel image information.

[0064] As shown in Figure 1 The first camera 51 is located at the top region of the rack 1, and the first camera 51 can acquire the environmental image information around the wheel disassembly and assembly device through machine vision.

[0065] By arranging the first camera 51, it is not only beneficial to analyze and process the position information of the wheel disassembly and assembly device and the position information of the wheel to be disassembled and assembled by the control module 2 or the computer, so as to plan a path, but also beneficial to the movement module 4 to avoid personnel or obstacles around, and accurately navigate along the planned path.

[0066] like Figure 1 or Figure 7 As shown, the second camera device 52 is located in the bottom area of ​​the frame 1 and is adjacent to the execution module 3. The second camera device 52 can acquire wheel image information through machine vision, wherein the wheel image information includes the image information of the wheel itself and the surrounding area of ​​the wheel.

[0067] By setting up a second camera device 52, the hole positions on the wheel where threaded parts need to be installed or removed can be identified, so that the execution module 3 can be aligned with the hole positions, thereby improving the accuracy of wheel installation and removal of the execution module 3.

[0068] Optionally, the wheel removal and installation equipment may be equipped with only one of the first camera device 51 and the second camera device 52. Alternatively, the wheel removal and installation equipment may be equipped with both the first camera device 51 and the second camera device 52. It is understood that when the wheel removal and installation equipment is equipped with only the second camera device 52, the control module 2 can also obtain the position information of the wheel removal and installation equipment through a positioning system or the like.

[0069] The wheel assembly and disassembly equipment also includes a parts storage module 6, which stores wheel parts and supplies them to the execution module 3.

[0070] For example, the parts storage module 6 is mounted on the frame 1 and is used to store threaded parts such as screws and bolts.

[0071] For example, the parts storage module 6 can automatically or manually replenish parts to provide sufficient parts for the next wheel installation by the wheel removal and installation equipment; and / or, the parts storage module 6 can hold parts removed by the wheel removal and installation equipment during wheel removal for use in the next wheel installation.

[0072] Optionally, the operator can manually replenish parts to the parts storage module 6; and / or, the parts storage module 6 is equipped with a full material detection device, which automatically replenishes parts to the parts storage module 6 by a material storage mechanism such as a hopper when the full material detection device detects that the number of parts in the parts storage module 6 is insufficient.

[0073] The parts storage module 6 can also transport the stored parts to the vicinity of the execution module 3, facilitating the installation of the wheel by the execution module 3. For example, the parts transported by the parts storage module 6 to the execution module 3 can be manually installed at the end of the execution module 3 near the wheel hole, making it convenient for the execution module 3 to install the parts onto the wheel hole; alternatively, the parts transported by the parts storage module 6 to the execution module 3 can be automatically installed at the end of the execution module 3 near the wheel hole using a robotic arm or other handling equipment; or, the execution module 3 itself can be equipped with a magnetic suction structure or other picking mechanism, enabling the execution module 3 to automatically pick up the parts transported by the parts storage module 6, thereby facilitating the installation of the parts onto the wheel hole.

[0074] In one specific embodiment, as shown in Figure 3 and Figure 4 , the part storage module 6 comprises a first driving member 61 for driving the rotation of a storage disc 62, the storage disc 62 and a conveying disc 63 are arranged along the height direction of the wheel dismounting device, and the storage disc 62 is above the conveying disc 63, and a storage hopper 64 is below the conveying disc 63.

[0075] The storage disc 62 is provided with a plurality of first through holes 621 for accommodating parts, and the conveying disc 63 is provided with a plurality of second through holes 631, the number of the second through holes 631 being less than the number of the first through holes 621.

[0076] When the first through hole 621 rotates to a position corresponding to the second through hole 631, the part in the first through hole 621 can fall from the second through hole 631 to the storage hopper 64.

[0077] As shown in Figure 3 , the storage disc 62 and the conveying disc 63 are both circular discs, and the central axis of the storage disc 62 and the central axis of the conveying disc 63 are on the same straight line.

[0078] Under the driving of the first driving member 61, the storage disc 62 can rotate along its central axis, while the conveying disc 63 is fixed on the rack 1 and cannot rotate.

[0079] Exemplarily, the first driving member 61 is a speed reducer, and the part storage module 6 further comprises a first gear 65, a second gear 66 and a connecting member 67, the first gear 65 is coaxially connected with the output shaft of the first driving member 61, the first gear 65 is engaged with the second gear 66, the second gear 66, the connecting member 67 and the storage disc 62 are coaxially connected, and the power generated by the first driving member 61 is transmitted to the first gear 65, the second gear 66, the connecting member 67 and the storage disc 62 in sequence, so that the storage disc 62 rotates around its central axis. In order to balance and offset the radial force, deep groove ball bearings 68 are installed at both ends of the connecting member 67, the deep groove ball bearings 68 have the characteristics of being able to bear large radial force and small axial load, not only realizing the connection between the first driving member 61 and the storage disc 62, but also bearing part of the weight of the storage disc 62.

[0080] The sizes of the storage disc 62 and the conveying disc 63 can be the same or different, and the application takes the sizes of the storage disc 62 and the conveying disc 63 as an example for illustration. The storage disc 62 and the conveying disc 63 can be spaced apart along the height direction of the wheel dismounting device, or can be abutted along the height direction of the wheel dismounting device, and the application takes the storage disc 62 and the conveying disc 63 as an example for illustration.

[0081] A plurality of first through holes 621 are spaced around the central axis of the storage disc 62, and the number of the first through holes 621 can be set according to actual needs. For example Figure 3 As shown, the storage disc 62 has twelve first through holes 621, which are evenly spaced around the central axis of the storage disc 62.

[0082] Each first through hole 621 is used to accommodate a part, and the shape of the first through hole 621 can be circular, rectangular, triangular or other shapes, for example Figure 3 As shown, the first through hole 621 is a circular hole.

[0083] The size of the first through hole 621 can be set according to actual needs, for example: the size of the first through hole 621 can just accommodate a part, and the number of the first through hole 621 is the number of parts that the storage disc 62 can store.

[0084] The number of the second through hole 631 can be one or more, for example Figure 3 As shown, the conveying disc 63 is provided with one second through hole 631. In the case where the positions of the first through hole 621 and the second through hole 631 are staggered, the parts are still stored in the first through hole 621 of the storage disc 62; in the case where the first through hole 621 and the second through hole 631 coincide in the height direction of the wheel dismounting device, the parts in the first through hole 621 can pass through the second through hole 631, and then fall into the storage hopper 64, facilitating the use of the execution module 3.

[0085] Exemplarily, in the case where the positions of the first through hole 621 and the second through hole 631 are staggered, the lower end of the part abuts against the side surface of the conveying disc 63 close to the storage disc 62, so the part will not be detached from the first through hole 621.

[0086] In the case where the first through hole 621 is twelve, the second through hole 631 is one, and one part is stored in each first through hole 621, the storage disc 62 falls one part stored therein into the storage hopper 64 every 30° of rotation, and the number of parts falling can be controlled by controlling the rotation angle of the storage disc 62.

[0087] Further, the wheel dismounting device further comprises a first position adjusting mechanism 7, which is in transmission connection with the storage hopper 64, and is used to drive the storage hopper 64 to move below the second through hole 631 or beside the execution module 3.

[0088] For example, the first position adjusting mechanism 7 drives the storage hopper 64 to slide along a guide mechanism such as a guide rail or a slide, so as to adjust the position of the storage hopper 64.

[0089] By setting the first position adjusting structure, the position of the storage hopper 64 can be adjusted, so that the storage hopper 64 moves below the second through hole 631 to receive the parts falling from the second through hole 631, or moves to the side of the execution module 3 to provide parts for the wheel installation of the execution module 3.

[0090] In one specific embodiment, as shown in Figure 5 and Figure 6 , the first position adjusting mechanism 7 includes a first mounting frame 71, a second mounting frame 72, a crank 73, a connecting rod 74, a sliding block 75 and a second driving member 76.

[0091] The first mounting frame 71 and the second mounting frame 72 are connected vertically, the first mounting frame 71 is fixed on the rack 1, the second driving member 76 is arranged on the second mounting frame 72 and is in transmission connection with the crank 73, one end of the connecting rod 74 is eccentrically arranged on the crank 73, and the other end of the connecting rod 74 is connected with the sliding block 75.

[0092] The sliding block 75 is connected with the storage hopper 64, the storage hopper 64 is movably connected with the second mounting frame 72 and can move along the length direction of the second mounting frame 72.

[0093] As shown in Figure 1 and Figure 2 , the length direction of the wheel dismounting and mounting device is the first direction X, the width direction of the wheel dismounting and mounting device is the second direction Y, and the height direction of the wheel dismounting and mounting device is the third direction Z, the first direction X, the second direction Y and the third direction Z are perpendicular to each other, wherein the first mounting frame 71 extends along the third direction Z, and the second mounting frame 72 extends along the first direction X. The first mounting frame 71 is fixed on the rack 1 by fastening, welding or the like, so as to realize the installation and fixation of the first position adjusting mechanism 7.

[0094] The crank 73 is in the shape of a circular disc, and the second driving member 76 can drive the crank 73 to rotate around the central axis thereof. One end of the connecting rod 74 deviates from the central axis of the crank 73 and is rotatably connected with the crank 73, the other end of the connecting rod 74 is rotatably connected with the sliding block 75, and the sliding block 75 is connected with the storage hopper 64. The storage hopper 64 can be movably connected with the second mounting frame 72 through guide structures such as guide rails and slides. For example, the storage hopper 64 is provided with a through hole, and the storage hopper 64 is movably sleeved on the second mounting frame 72 through the through hole, so that the storage hopper 64 can move along the first direction X.

[0095] Optionally, the first mounting frame 71 is a telescopic structure, and the first mounting frame 71 can move in the third direction Z to adjust the position of the storage hopper 64 in the third direction Z.

[0096] In this embodiment, the first position adjusting mechanism 7 is a crank slider mechanism, under the drive of the first position adjusting mechanism 7, the storage hopper 64 can move along the first direction X to move below the second through hole 631 or beside the execution module 3 to receive the parts dropped from the second through hole 631 or the execution module 3 to provide parts for the wheel installation.

[0097] The wheel dismounting and mounting device further comprises a second position adjusting mechanism 8, the second position adjusting mechanism 8 is in driving connection with the execution module 3, and the second position adjusting mechanism 8 is used for adjusting the position of the execution module 3, so that the execution module 3 is aligned with the hole position of the wheel, and the execution module 3 is convenient for dismounting or mounting parts.

[0098] The second position adjusting mechanism 8 can adopt a gear and rack transmission mechanism, a ball screw transmission mechanism, a worm transmission mechanism or the like to adjust the position of the execution module 3, and the second position adjusting mechanism 8 adjusts the position of the execution module 3 in at least one of the first direction X, the second direction Y and the third direction Z, so that the execution module 3 is adapted to wheels of different sizes or types, and the flexibility and applicability of the wheel dismounting and mounting device are improved.

[0099] For example Figure 7 As shown in the figure, the second position adjusting mechanism 8 comprises a first mounting plate 81, a second mounting plate 82, a ball screw device 83, a third driving member 84 and a fourth driving member (not shown in the figure). The first mounting plate 81 extends perpendicularly to the second direction Y and along the first direction X, and the first mounting plate 81 is fixed on the rack 1 or connected with the second mounting frame 72 of the first position adjusting mechanism 7. The second mounting plate 82 is slidably connected on the first mounting plate 81, and the fourth driving member is in driving connection with the second mounting plate 82, and the fourth driving member is used to drive the second mounting plate 82 to slide along the first direction X. The third driving member 84, the ball screw device 83 and the execution module 3 are mounted on the second mounting plate 82, the third driving member 84 is in driving connection with the execution module 3 through the ball screw device 83, and the third driving member 84 is used to drive the execution module 3 to move along the third direction Z. In this embodiment, the second position adjusting mechanism 8 can adjust the position of the execution module 3 along the first direction X and the third direction Z, and the flexibility of the execution module 3 is improved.

[0100] In a further embodiment, the execution module 3 has a telescopic structure, and the execution module 3 can be telescopic along the length direction thereof.

[0101] For example, the length direction of the execution module 3 is parallel to the second direction Y, that is, the execution module 3 can be telescopic along the second direction Y.

[0102] The execution module 3 can adopt a telescopic tube structure, a spring telescopic structure, a folding telescopic structure, a screw telescopic structure, a hydraulic cylinder telescopic structure, an air cylinder telescopic structure, or any telescopic structure in the prior art to realize telescopic movement in the length direction of the execution module 3, and the application does not make specific limitations.

[0103] In this embodiment, by setting the execution module 3 as a telescopic structure, the execution module 3 can adjust the distance between the end thereof and the wheel, and at the same time, facilitate the rotation of the execution module 3 into or out of the hole position of the wheel, so as to install or disassemble the wheel.

[0104] In one embodiment, as shown in Figure 1 and Figure 2 , the traveling wheel 42 is a Mecanum wheel.

[0105] The outer circle of the hub of the Mecanum wheel is uniformly distributed with small rollers, which are inclined at a certain angle with respect to the hub axis, and rotate around the axis and rotate with the hub as a whole. This special structure enables the Mecanum wheel to continuously roll forward and realize omnidirectional movement.

[0106] By setting the traveling wheel 42 as a Mecanum wheel, forward movement, transverse movement, diagonal movement, rotation, and combinations thereof can be realized, so that the wheel dismounting device is particularly suitable for limited space and narrow operation channel loading and unloading environments, and greatly improves the efficiency of wheel dismounting operation in harsh environments.

[0107] The wheel dismounting device further comprises a solar panel 9 and an energy storage device electrically connected, and the energy storage device is used to supply power to at least one of the control module 2, the execution module 3, and the execution module 3.

[0108] The solar panel 9 absorbs sunlight and converts solar radiation energy into electrical energy stored in the energy storage device, thereby providing energy for the electrical devices in the wheel dismounting device.

[0109] As shown in Figure 2 , the solar panel 9 is installed on the top of the rack 1 by the panel support 91, thereby increasing the sunlight absorption area and maximizing the reception of solar radiation and conversion of electrical energy.

[0110] In this embodiment, by setting the solar panel 9 and the energy storage device, the wheel dismounting device is adapted to outdoor environments, thereby improving the endurance of the wheel dismounting device.

[0111] In one specific embodiment, the working process of the wheel dismounting device includes:

[0112] S1: receiving dismounting instructions;

[0113] S2: Obtain the position information of the wheel to be disassembled and assembled and the position information of the wheel disassembling and assembling device, which can be obtained by the first camera 51;

[0114] S3: Plan a path according to the position information of the wheel to be disassembled and assembled and the position information of the wheel disassembling and assembling device;

[0115] S4: The motion module 4 runs and automatically drives to the target position of the wheel to be disassembled and assembled according to the planned path;

[0116] S5: Obtain the image information of the wheel to be disassembled and assembled, which can be obtained by the second camera 52;

[0117] S6: According to the image information of the wheel to be disassembled and assembled, control the second position adjusting mechanism 8 to calibrate the position of the execution module 3, so that the execution module 3 is aligned with the hole position of the wheel to be disassembled and assembled;

[0118] S7: Control the execution module 3 to run and disassemble or assemble the wheel parts;

[0119] S8: After disassembly and assembly, the motion module 4 automatically drives to the preset parking position or the position of the next wheel to be disassembled and assembled.

[0120] In the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The term "a plurality of" refers to two or more, unless otherwise explicitly limited.

[0121] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The present application is intended to cover any variations, uses or adaptive changes of the present application following the general principles of the present application and including known or customary technical means in the art not disclosed in the present application. The specification and examples are only considered as exemplary.

[0122] It should be understood that the present application is not limited to the precise construction which has been described and shown in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.

Claims

1. A wheel dismounting apparatus, characterized by, The wheel dismounting and mounting device comprises a rack (1), a control module (2), an execution module (3) and a motion module (4); The control module (2) is in communication connection with the execution module (3) and the motion module (4) respectively; The control module (2) and the execution module (3) are both installed on the rack (1); The motion module (4) comprises a base (41) and traveling wheels (42) installed on the base (41), the base (41) is used for bearing the rack (1), and the motion module (4) is used for navigating and traveling on the road surface; The execution module (3) is used for dismounting and mounting the wheels of the automobile; The wheel dismounting and mounting device further comprises a part storage module (6), the part storage module (6) is used for storing the parts of the wheels and conveying the parts to the execution module (3); The part storage module (6) comprises a first driving member (61), a storage disc (62), a conveying disc (63) and a storage hopper (64), the first driving member (61) is used for driving the storage disc (62) to rotate, the storage disc (62) and the conveying disc (63) are arranged along the height direction of the wheel dismounting and mounting device, and the storage disc (62) is located above the conveying disc (63), and the storage hopper (64) is located below the conveying disc (63); The storage disc (62) is provided with a plurality of first through holes (621) for accommodating the parts, and the conveying disc (63) is provided with second through holes (631), and the number of the second through holes (631) is less than that of the first through holes (621); When the first through hole (621) rotates to a position corresponding to the second through hole (631), the part in the first through hole (621) can fall from the second through hole (631) to the storage hopper (64); The wheel dismounting and mounting device further comprises a first position adjusting mechanism (7), the first position adjusting mechanism (7) is in transmission connection with the storage hopper (64), and the first position adjusting mechanism (7) is used for driving the storage hopper (64) to move below the second through hole (631) or beside the execution module (3).

2. The wheel dismounting apparatus according to claim 1, characterized in that The wheel dismounting and mounting device further comprises an identification module; The identification module comprises a first camera (51), the first camera (51) is installed on the top of the rack (1) and is used for acquiring environmental image information; and / or, The identification module comprises a second camera (52), the second camera (52) is installed beside the execution module (3) and is used for acquiring wheel image information.

3. The wheel mounting and demounting apparatus according to claim 1, characterized in that, The first position adjusting mechanism (7) comprises a first mounting frame (71), a second mounting frame (72), a second driving member (76), a crank (73), a connecting rod (74) and a sliding block (75); The first mounting frame (71) and the second mounting frame (72) are vertically connected, the first mounting frame (71) is fixed on the rack (1), the second driving member (76) is arranged on the second mounting frame (72) and is in transmission connection with the crank (73), one end of the connecting rod (74) is eccentrically arranged on the crank (73), and the other end of the connecting rod (74) is connected with the sliding block (75); The sliding block (75) is connected with the storage hopper (64), the storage hopper (64) is movably connected with the second mounting frame (72) and can move along the length direction of the second mounting frame (72).

4. The wheel dolly of claim 1, wherein, The wheel dismounting and mounting device further comprises a second position adjusting mechanism (8) in transmission connection with the execution module (3), and the second position adjusting mechanism (8) is used for adjusting the position of the execution module (3) so that the execution module (3) is aligned with the hole position of the wheel.

5. The wheel mounting and demounting apparatus according to claim 3, characterized in that The execution module (3) has a telescopic structure and can be telescoped along the length direction thereof.

6. The wheel dolly of claim 1, wherein, The traveling wheel (42) is a Mecanum wheel.

7. The wheel dolly of claim 1, wherein, The wheel dismounting and mounting device further comprises electrically connected solar panels (9) and an energy storage device, and the energy storage device is used for supplying power to at least one of the control module (2), the execution module (3) and the execution module (3). The execution module (3) has a telescopic structure and can be telescoped along the length direction thereof. The traveling wheel (42) is a Mecanum wheel. The wheel dismounting and mounting device further comprises electrically connected solar panels (9) and an energy storage device, and the energy storage device is used for supplying power to at least one of the control module (2), the execution module (3) and the execution module (3).

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